function regressor(regressor_out, q, dq, ddq)
#
    x0 = -ddq[1]
    x1 = -dq[1]
    x2 = cos(q[2])
    x3 = -x2
    x4 = x1*x3
    x5 = -x4
    x6 = dq[2]*x5
    x7 = sin(q[2])
    x8 = x0*x7 + x6
    x9 = x1*x7
    x10 = dq[2]*x9
    x11 = -x10
    x12 = x5*x9
    x13 = x9^2
    x14 = dq[2]^2
    x15 = x0*x3 + x10
    x16 = x4^2
    x17 = x4*x9
    x18 = dq[2]*x4
    x19 = 9.81*x2
    x20 = -9.81*x7
    x21 = -x20
    x22 = cos(q[3])
    x23 = sin(q[3])
    x24 = ddq[2]*x23
    x25 = x22*x8
    x26 = dq[2]*x22
    x27 = x23*x9
    x28 = -x27
    x29 = x26 + x28
    x30 = -dq[3]
    x31 = -x30
    x32 = x24 + x25 + x29*x31
    x33 = dq[2]*x23
    x34 = x22*x9
    x35 = x33 + x34
    x36 = -x35
    x37 = x30 + x5
    x38 = x36*x37
    x39 = -x23
    x40 = x29*x35
    x41 = -x40
    x42 = -ddq[3] - x15
    x43 = x41 + x42
    x44 = x35^2
    x45 = x37^2
    x46 = -x45
    x47 = x44 + x46
    x48 = x29*x37
    x49 = x32 + x48
    x50 = -x49
    x51 = x35*x37
    x52 = ddq[2]*x22
    x53 = x23*x8
    x54 = -x53
    x55 = x30*x35 + x52 + x54
    x56 = x51 + x55
    x57 = x22*x56
    x58 = -x48
    x59 = x32 + x58
    x60 = x29^2
    x61 = -x44
    x62 = -x60 - x61
    x63 = -x42
    x64 = -x60
    x65 = x45 + x64
    x66 = x40 + x42
    x67 = -x38 - x55
    x68 = -x41
    x69 = 0.55*x26 - 0.55*x27
    x70 = x29*x69
    x71 = 0.045*x22^2 + 0.045*x23^2
    x72 = -0.55*x33 - 0.55*x34 + x4*x71
    x73 = 0.045*dq[3]
    x74 = x72 + x73
    x75 = -x19
    x76 = x36*x73 + x52*x71 + x54*x71 + x75
    x77 = x36*x74 + x70 + x76
    x78 = x39*x77
    x79 = x46 + x64
    x80 = -0.55*x23
    x81 = x40 + x63
    x82 = x39*x71
    x83 = 0.045*ddq[3] + x15*x71 + x21*x23 - 0.55*x24 - 0.55*x25 + x30*x69
    x84 = x37*x69
    x85 = x26*x71 + x28*x71
    x86 = -x36*x85 + x83 - x84
    x87 = x35*x85 + x83 - x84
    x88 = x22*x87
    x89 = x20*x22 + x31*x72 + x5*x73 + 0.55*x52 - 0.55*x53
    x90 = x29*x85
    x91 = x37*x74
    x92 = -x89 + x90 - x91
    x93 = x51 - x55
    x94 = x61 + x64
    x95 = x35*x74 - x70 - x76
    x96 = x46 + x61
    x97 = -x32 + x48
    x98 = x89 - x90 + x91
    x99 = -x98
    x100 = cos(q[4])
    x101 = sin(q[4])
    x102 = -dq[4]
    x103 = x101*x35
    x104 = -x100
    x105 = x104*x37
    x106 = x103 + x105
    x107 = x100*x32 + x101*x42 + x102*x106
    x108 = dq[4] + x29
    x109 = x100*x35 + x101*x37
    x110 = -x109
    x111 = x108*x110
    x112 = x100*x107 + x101*x111
    x113 = x106*x109
    x114 = -x101*x107 - x104*x111
    x115 = ddq[4] + x55
    x116 = -x106
    x117 = x109*x116
    x118 = x115 + x117
    x119 = x109^2
    x120 = x108^2
    x121 = -x120
    x122 = x119 + x121
    x123 = x100*x118 + x101*x122
    x124 = x106*x108
    x125 = x107 + x124
    x126 = -x101*x118 - x104*x122
    x127 = x101*x32
    x128 = x104*x42
    x129 = dq[4]*x109 + x127 + x128
    x130 = x108*x109
    x131 = x129 + x130
    x132 = x108*x116
    x133 = x107 + x132
    x134 = x100*x131 + x101*x133
    x135 = x106^2
    x136 = -x119
    x137 = x135 + x136
    x138 = x101*x131
    x139 = -x104*x133 - x138
    x140 = x100*x132 + x101*x130
    x141 = -x101*x132 - x104*x130
    x142 = -x135
    x143 = x120 + x142
    x144 = x113 + x115
    x145 = x101*x144
    x146 = x100*x143 + x145
    x147 = x111 + x129
    x148 = -x101*x143 - x104*x144
    x149 = x100*x124 + x101*x129
    x150 = -x101*x124 - x104*x129
    x151 = x100^2
    x152 = x101^2
    x153 = -0.045*x151 - 0.045*x152
    x154 = 0.045*dq[4]
    x155 = x110*x154 + x127*x153 + x128*x153 + x83
    x156 = x100*x69 + x101*x85
    x157 = 0.045*x151 + 0.045*x152
    x158 = x101*x69 + x104*x85 + x157*x29
    x159 = x154 + x158
    x160 = x106*x156 + x110*x159 + x155
    x161 = x101*x160
    x162 = x138*x153 + x161
    x163 = 0.045*ddq[4] + dq[4]*x156 + x101*x89 + x104*x76 + x157*x55
    x164 = -x163
    x165 = x108*x156
    x166 = x103*x153 + x105*x153 + x74
    x167 = x110*x166 + x164 + x165
    x168 = x113 - x115
    x169 = x157*x168 + x167
    x170 = x121 + x142
    x171 = x100*x170 + x101*x168
    x172 = x101*x170 + x104*x168
    x173 = x104*x160
    x174 = x104*x153
    x175 = -x131*x174 - x173
    x176 = x109*x166 + x163 - x165
    x177 = x100*x89 + x101*x76 + x102*x158 + x154*x29
    x178 = -x159
    x179 = x106*x166 + x108*x178 - x177
    x180 = x136 + x142
    x181 = x101*x153
    x182 = x100*x176 + x101*x179 + x180*x181
    x183 = x125*x157
    x184 = -x129
    x185 = x130 + x184
    x186 = x100*x185 + x101*x125
    x187 = x101*x185 + x104*x125
    x188 = x101*x176
    x189 = -x104*x179 - x174*x180 - x188
    x190 = x109*x159 + x116*x156 - x155
    x191 = -x107 + x124
    x192 = x100*x190 + x181*x191
    x193 = x108*x159 + x116*x166 + x177
    x194 = x121 + x136
    x195 = x157*x194 + x193
    x196 = x100*x144 + x101*x194
    x197 = x104*x194 + x145
    x198 = -x101*x190 - x174*x191
    x199 = x100*x193 + x188
    x200 = x101*x193 + x104*x176
    x201 = x153*x161
    x202 = x157*x176
    x203 = -x153*x173
    x204 = sin(q[5])
    x205 = x108*x204
    x206 = cos(q[5])
    x207 = x109*x206
    x208 = x205 + x207
    x209 = x108*x206
    x210 = x110*x204 + x209
    x211 = x208*x210
    x212 = -x211
    x213 = x107*x206
    x214 = x115*x204
    x215 = -dq[5]
    x216 = -x215
    x217 = x210*x216 + x213 + x214
    x218 = x116 + x215
    x219 = x208*x218
    x220 = -x219
    x221 = -x204
    x222 = x206*x217 + x220*x221
    x223 = x100*x222 + x101*x212
    x224 = x204*x217 + x206*x220
    x225 = -x101*x222 - x104*x212
    x226 = x210*x218
    x227 = x217 + x226
    x228 = -x227
    x229 = -ddq[5] + x184
    x230 = x212 + x229
    x231 = x208^2
    x232 = x218^2
    x233 = -x232
    x234 = x231 + x233
    x235 = x206*x230 + x221*x234
    x236 = x100*x235 + x101*x228
    x237 = x204*x230 + x206*x234
    x238 = -x101*x235 - x104*x228
    x239 = x210^2
    x240 = -x231
    x241 = -x239 - x240
    x242 = x115*x206
    x243 = x107*x221 + x208*x215 + x242
    x244 = x219 + x243
    x245 = -x226
    x246 = x217 + x245
    x247 = x206*x244 + x221*x246
    x248 = x100*x247 + x101*x241
    x249 = x204*x244 + x206*x246
    x250 = -x101*x247 - x104*x241
    x251 = -x229
    x252 = x206*x245 + x219*x221
    x253 = x100*x252 + x101*x251
    x254 = x204*x245 + x206*x219
    x255 = -x101*x252 - x104*x251
    x256 = -x220 - x243
    x257 = -x239
    x258 = x232 + x257
    x259 = x211 + x229
    x260 = x206*x258 + x221*x259
    x261 = x100*x260 + x101*x256
    x262 = x206*x259
    x263 = x204*x258 + x262
    x264 = -x101*x260 - x104*x256
    x265 = -x212
    x266 = x206*x226 + x221*x243
    x267 = x100*x266 + x101*x265
    x268 = x204*x226 + x206*x243
    x269 = -x101*x266 - x104*x265
    x270 = -0.3*x204
    x271 = x109*x270 + x156*x206 + x166*x204 + 0.3*x209
    x272 = x155*x206 + x177*x221 - 0.3*x213 - 0.3*x214 + x215*x271
    x273 = -x272
    x274 = x218*x271
    x275 = -x208
    x276 = -x178*x275 - x273 - x274
    x277 = x210*x271
    x278 = x156*x221 + x166*x206 - 0.3*x205 - 0.3*x207
    x279 = x164 + x275*x278 + x277
    x280 = x233 + x257
    x281 = x211 + x251
    x282 = x206*x281
    x283 = x221*x279 + x270*x280 - 0.3*x282
    x284 = x204*x280 + x282
    x285 = x100*x283 + x101*x276 + x181*x284
    x286 = x206*x280
    x287 = x206*x279 + x270*x281 + 0.3*x286
    x288 = -x244
    x289 = x157*x288 + x287
    x290 = x221*x281 + x286
    x291 = x100*x290 + x101*x288
    x292 = x101*x290 + x104*x288
    x293 = -x101*x283 - x104*x276 - x174*x284
    x294 = x178*x208 + x272 - x274
    x295 = x206*x294
    x296 = x107*x270 + x155*x204 + x177*x206 + x216*x278 + 0.3*x242
    x297 = x178*x210
    x298 = x218*x278
    x299 = -x296 + x297 - x298
    x300 = x206*x227
    x301 = x219 - x243
    x302 = x221*x299 + x270*x301 + x295 - 0.3*x300
    x303 = x204*x301 + x300
    x304 = x100*x302 + x181*x303
    x305 = x206*x301
    x306 = x204*x294 + x206*x299 + x227*x270 + 0.3*x305
    x307 = -x240 - x257
    x308 = x157*x307 + x306
    x309 = x221*x227 + x305
    x310 = x100*x309 + x101*x307
    x311 = x101*x309 + x104*x307
    x312 = -x101*x302 - x174*x303
    x313 = x296 - x297 + x298
    x314 = -x313
    x315 = -x164 + x208*x278 - x277
    x316 = x233 + x240
    x317 = x206*x316
    x318 = x206*x315 + x259*x270 - 0.3*x317
    x319 = x204*x259 + x317
    x320 = x100*x318 + x101*x314 + x181*x319
    x321 = x204*x315 + 0.3*x262 + x270*x316
    x322 = x217 - x226
    x323 = x157*x322 + x321
    x324 = x221*x316 + x262
    x325 = x100*x324 + x101*x322
    x326 = x101*x324 + x104*x322
    x327 = -x101*x318 - x104*x314 - x174*x319
    x328 = x270*x313 - 0.3*x295
    x329 = x204*x313 + x295
    x330 = x100*x328 + x181*x329
    x331 = x206*x313
    x332 = x270*x294 + 0.3*x331
    x333 = -x279
    x334 = x157*x333 + x332
    x335 = x221*x294 + x331
    x336 = x100*x335 + x101*x333
    x337 = x101*x335 + x104*x333
    x338 = -x101*x328 - x174*x329
    x339 = sin(q[6])
    x340 = cos(q[6])
    x341 = -x340
    x342 = x208*x339 + x218*x341
    x343 = -dq[6]
    x344 = x217*x340 + x229*x339 + x342*x343
    x345 = x208*x340 + x218*x339
    x346 = dq[6] + x210
    x347 = x345*x346
    x348 = -x347
    x349 = -x339*x344 - x341*x348
    x350 = x339*x348 + x340*x344
    x351 = x342*x345
    x352 = x206*x350 + x221*x351
    x353 = x100*x352 + x101*x349
    x354 = x204*x350 + x206*x351
    x355 = -x101*x352 - x104*x349
    x356 = -x351
    x357 = ddq[6] + x243
    x358 = x356 + x357
    x359 = x345^2
    x360 = x346^2
    x361 = -x360
    x362 = x359 + x361
    x363 = -x339*x358 - x341*x362
    x364 = x339*x362 + x340*x358
    x365 = x342*x346
    x366 = x344 + x365
    x367 = x206*x364 + x221*x366
    x368 = x100*x367 + x101*x363
    x369 = x204*x364 + x206*x366
    x370 = -x101*x367 - x104*x363
    x371 = dq[6]*x345 + x217*x339 + x229*x341
    x372 = x347 + x371
    x373 = -x365
    x374 = x344 + x373
    x375 = -x339*x372 - x341*x374
    x376 = x339*x374 + x340*x372
    x377 = x342^2
    x378 = -x359
    x379 = x377 + x378
    x380 = x206*x376 + x221*x379
    x381 = x100*x380 + x101*x375
    x382 = x204*x376 + x206*x379
    x383 = -x101*x380 - x104*x375
    x384 = -x339*x373 - x341*x347
    x385 = x339*x347 + x340*x373
    x386 = x206*x385 + x221*x357
    x387 = x100*x386 + x101*x384
    x388 = x204*x385 + x206*x357
    x389 = -x101*x386 - x104*x384
    x390 = -x377
    x391 = x360 + x390
    x392 = x351 + x357
    x393 = -x339*x391 - x341*x392
    x394 = x339*x392
    x395 = x340*x391 + x394
    x396 = x348 + x371
    x397 = x206*x395 + x221*x396
    x398 = x100*x397 + x101*x393
    x399 = x204*x395 + x206*x396
    x400 = -x101*x397 - x104*x393
    x401 = -x339*x365 - x341*x371
    x402 = x339*x371 + x340*x365
    x403 = x206*x402 + x221*x356
    x404 = x100*x403 + x101*x401
    x405 = x204*x402 + x206*x356
    x406 = -x101*x403 - x104*x401
    x407 = x178*x339 + x271*x340
    x408 = x342*x407
    x409 = -x345
    x410 = x178*x341 + x271*x339
    x411 = x272 + x408 + x409*x410
    x412 = -x341*x411
    x413 = x339*x411
    x414 = dq[6]*x407 + x164*x341 + x296*x339
    x415 = -x414
    x416 = x346*x407
    x417 = x278*x409 + x415 + x416
    x418 = x206*x372
    x419 = x361 + x390
    x420 = x351 - x357
    x421 = x339*x420 + x340*x419
    x422 = x206*x413 + x221*x417 + x270*x421 - 0.3*x418
    x423 = x204*x421 + x418
    x424 = x100*x422 + x101*x412 + x181*x423
    x425 = x206*x421
    x426 = x204*x413 + x206*x417 + x270*x372 + 0.3*x425
    x427 = -x339*x419 - x341*x420
    x428 = x157*x427 + x426
    x429 = x221*x372 + x425
    x430 = x100*x429 + x101*x427
    x431 = x101*x429 + x104*x427
    x432 = -x101*x422 - x104*x412 - x174*x423
    x433 = x278*x345 + x414 - x416
    x434 = x339*x433
    x435 = x164*x339 + x296*x340 + x343*x410
    x436 = x278*x342
    x437 = x346*x410
    x438 = -x435 + x436 - x437
    x439 = -x341*x438 - x434
    x440 = x339*x438 + x340*x433
    x441 = x378 + x390
    x442 = x206*x441
    x443 = x347 - x371
    x444 = x339*x366 + x340*x443
    x445 = x206*x440 + x270*x444 - 0.3*x442
    x446 = x204*x444 + x442
    x447 = x100*x445 + x101*x439 + x181*x446
    x448 = x206*x444
    x449 = x204*x440 + x270*x441 + 0.3*x448
    x450 = -x339*x443 - x341*x366
    x451 = x157*x450 + x449
    x452 = x221*x441 + x448
    x453 = x100*x452 + x101*x450
    x454 = x101*x452 + x104*x450
    x455 = -x101*x445 - x104*x439 - x174*x446
    x456 = x273 + x345*x410 - x408
    x457 = -x339*x456
    x458 = x340*x456
    x459 = x435 - x436 + x437
    x460 = -x344 + x365
    x461 = x206*x460
    x462 = x361 + x378
    x463 = x339*x462 + x340*x392
    x464 = x206*x458 + x221*x459 + x270*x463 - 0.3*x461
    x465 = x204*x463 + x461
    x466 = x100*x464 + x101*x457 + x181*x465
    x467 = x206*x463
    x468 = x204*x458 + x206*x459 + x270*x460 + 0.3*x467
    x469 = -x341*x462 - x394
    x470 = x157*x469 + x468
    x471 = x221*x460 + x467
    x472 = x100*x471 + x101*x469
    x473 = x101*x471 + x104*x469
    x474 = -x101*x464 - x104*x457 - x174*x465
    x475 = x206*x411
    x476 = x340*x459 + x434
    x477 = x270*x476 - 0.3*x475
    x478 = x204*x476 + x475
    x479 = x100*x477 + x181*x478
    x480 = x206*x476
    x481 = x270*x411 + 0.3*x480
    x482 = -x339*x459 - x341*x433
    x483 = x157*x482 + x481
    x484 = x221*x411 + x480
    x485 = x100*x484 + x101*x482
    x486 = x101*x484 + x104*x482
    x487 = -x101*x477 - x174*x478
    x488 = cos(q[7])
    x489 = x344*x488
    x490 = sin(q[7])
    x491 = x357*x490
    x492 = x346*x488
    x493 = x345*x490
    x494 = x492 - x493
    x495 = dq[7]*x494 + x489 + x491
    x496 = x345*x488
    x497 = x346*x490
    x498 = x496 + x497
    x499 = dq[7] + x342
    x500 = x498*x499
    x501 = -x490
    x502 = x488*x495 + x500*x501
    x503 = x494*x498
    x504 = -x503
    x505 = -x339*x502 - x341*x504
    x506 = x339*x504 + x340*x502
    x507 = x488*x500 + x490*x495
    x508 = x206*x506 + x221*x507
    x509 = x100*x508 + x101*x505
    x510 = x204*x506 + x206*x507
    x511 = -x101*x508 - x104*x505
    x512 = -x500
    x513 = x357*x488
    x514 = -dq[7]
    x515 = x344*x501 + x498*x514 + x513
    x516 = x512 + x515
    x517 = x494*x499
    x518 = x495 + x517
    x519 = x488*x516 + x501*x518
    x520 = x498^2
    x521 = x494^2
    x522 = -x521
    x523 = x520 + x522
    x524 = -x339*x519 - x341*x523
    x525 = x339*x523 + x340*x519
    x526 = x488*x518 + x490*x516
    x527 = x206*x525 + x221*x526
    x528 = x100*x527 + x101*x524
    x529 = x204*x525 + x206*x526
    x530 = -x101*x527 - x104*x524
    x531 = ddq[7] + x371
    x532 = x503 + x531
    x533 = x488*x532
    x534 = x499^2
    x535 = -x520
    x536 = x534 + x535
    x537 = x501*x536 + x533
    x538 = -x517
    x539 = x495 + x538
    x540 = -x339*x537 - x341*x539
    x541 = x339*x539 + x340*x537
    x542 = x490*x532
    x543 = x488*x536 + x542
    x544 = x206*x541 + x221*x543
    x545 = x100*x544 + x101*x540
    x546 = x204*x541 + x206*x543
    x547 = -x101*x544 - x104*x540
    x548 = x488*x538 + x501*x515
    x549 = -x339*x548 - x341*x503
    x550 = x339*x503 + x340*x548
    x551 = x488*x515 + x490*x538
    x552 = x206*x550 + x221*x551
    x553 = x100*x552 + x101*x549
    x554 = x204*x550 + x206*x551
    x555 = -x101*x552 - x104*x549
    x556 = -x534
    x557 = x521 + x556
    x558 = x504 + x531
    x559 = x488*x557 + x501*x558
    x560 = x500 + x515
    x561 = -x339*x559 - x341*x560
    x562 = x339*x560 + x340*x559
    x563 = x488*x558 + x490*x557
    x564 = x206*x562 + x221*x563
    x565 = x100*x564 + x101*x561
    x566 = x204*x562 + x206*x563
    x567 = -x101*x564 - x104*x561
    x568 = x488*x517 + x501*x512
    x569 = -x339*x568 - x341*x531
    x570 = x339*x531 + x340*x568
    x571 = x488*x512 + x490*x517
    x572 = x206*x570 + x221*x571
    x573 = x100*x572 + x101*x569
    x574 = x204*x570 + x206*x571
    x575 = -x101*x572 - x104*x569
    x576 = x278*x490 + x407*x488 + 0.06*x492 - 0.06*x493
    x577 = x494*x576
    x578 = -x498
    x579 = x278*x488 + x407*x501 - 0.06*x496 - 0.06*x497
    x580 = x415 + x577 + x578*x579
    x581 = x522 + x556
    x582 = -0.06*x490
    x583 = x501*x580 - 0.06*x533 + x581*x582
    x584 = x499*x576
    x585 = x272*x488 + x435*x501 - 0.06*x489 - 0.06*x491 + x514*x576
    x586 = x410*x578 + x584 + x585
    x587 = -x339*x583 - x341*x586
    x588 = x339*x586 + x340*x583
    x589 = x488*x581
    x590 = x488*x580 - 0.06*x542 + 0.06*x589
    x591 = x490*x581 + x533
    x592 = x206*x591
    x593 = x500 - x515
    x594 = x501*x532 + x589
    x595 = x339*x593 + x340*x594
    x596 = x206*x588 + x221*x590 + x270*x595 - 0.3*x592
    x597 = x204*x595 + x592
    x598 = x100*x596 + x101*x587 + x181*x597
    x599 = x206*x595
    x600 = x204*x588 + x206*x590 + x270*x591 + 0.3*x599
    x601 = -x339*x594 - x341*x593
    x602 = x157*x601 + x600
    x603 = x221*x591 + x599
    x604 = x100*x603 + x101*x601
    x605 = x101*x603 + x104*x601
    x606 = -x101*x596 - x104*x587 - x174*x597
    x607 = x414 + x498*x579 - x577
    x608 = x503 - x531
    x609 = x535 + x556
    x610 = x488*x609
    x611 = x488*x607 + x582*x608 - 0.06*x610
    x612 = dq[7]*x579 + x272*x490 + x344*x582 + x435*x488 + 0.06*x513
    x613 = x499*x579
    x614 = x410*x494
    x615 = -x612 + x613 - x614
    x616 = -x339*x611 - x341*x615
    x617 = x339*x615 + x340*x611
    x618 = x488*x608
    x619 = x490*x607 + x582*x609 + 0.06*x618
    x620 = x490*x608 + x610
    x621 = x206*x620
    x622 = x501*x609 + x618
    x623 = x339*x518 + x340*x622
    x624 = x206*x617 + x221*x619 + x270*x623 - 0.3*x621
    x625 = x204*x623 + x621
    x626 = x100*x624 + x101*x616 + x181*x625
    x627 = x206*x623
    x628 = x204*x617 + x206*x619 + x270*x620 + 0.3*x627
    x629 = -x339*x622 - x341*x518
    x630 = x157*x629 + x628
    x631 = x221*x620 + x627
    x632 = x100*x631 + x101*x629
    x633 = x101*x631 + x104*x629
    x634 = -x101*x624 - x104*x616 - x174*x625
    x635 = x410*x498 - x584 - x585
    x636 = x612 - x613 + x614
    x637 = -x495 + x517
    x638 = x488*x637
    x639 = x488*x635 + x501*x636 + x560*x582 - 0.06*x638
    x640 = -x339*x639
    x641 = x340*x639
    x642 = x488*x636
    x643 = x488*x560
    x644 = x490*x635 + x582*x637 + x642 + 0.06*x643
    x645 = x490*x560 + x638
    x646 = x206*x645
    x647 = x522 + x535
    x648 = x501*x637 + x643
    x649 = x339*x647 + x340*x648
    x650 = x206*x641 + x221*x644 + x270*x649 - 0.3*x646
    x651 = x204*x649 + x646
    x652 = x100*x650 + x101*x640 + x181*x651
    x653 = x206*x649
    x654 = x204*x641 + x206*x644 + x270*x645 + 0.3*x653
    x655 = -x339*x648 - x341*x647
    x656 = x157*x655 + x654
    x657 = x221*x645 + x653
    x658 = x100*x657 + x101*x655
    x659 = x101*x657 + x104*x655
    x660 = -x101*x650 - x104*x640 - x174*x651
    x661 = x488*x586
    x662 = x582*x636 - 0.06*x661
    x663 = -x339*x662
    x664 = x340*x662
    x665 = x582*x586 + 0.06*x642
    x666 = x490*x636 + x661
    x667 = x206*x666
    x668 = x501*x586 + x642
    x669 = x339*x607 + x340*x668
    x670 = x206*x664 + x221*x665 + x270*x669 - 0.3*x667
    x671 = x204*x669 + x667
    x672 = x100*x670 + x101*x663 + x181*x671
    x673 = x206*x669
    x674 = x204*x664 + x206*x665 + x270*x666 + 0.3*x673
    x675 = -x339*x668 - x341*x607
    x676 = x157*x675 + x674
    x677 = x221*x666 + x673
    x678 = x100*x677 + x101*x675
    x679 = x101*x677 + x104*x675
    x680 = -x101*x670 - x104*x663 - x174*x671
    x681 = x22*x66
    x682 = x22*x77
    x683 = x22*x71
#
    regressor_out[1] = 0
    regressor_out[2] = 0
    regressor_out[3] = 0
    regressor_out[4] = 0
    regressor_out[5] = 0
    regressor_out[6] = 0
    regressor_out[7] = 0
    regressor_out[8] = 0
    regressor_out[9] = 0
    regressor_out[10] = 0
    regressor_out[11] = 0
    regressor_out[12] = 0
    regressor_out[13] = 0
    regressor_out[14] = 0
    regressor_out[15] = 0
    regressor_out[16] = 0
    regressor_out[17] = 0
    regressor_out[18] = 0
    regressor_out[19] = 0
    regressor_out[20] = 0
    regressor_out[21] = 0
    regressor_out[22] = -x0
    regressor_out[23] = 0
    regressor_out[24] = 0
    regressor_out[25] = 0
    regressor_out[26] = 0
    regressor_out[27] = 0
    regressor_out[28] = 0
    regressor_out[29] = 0
    regressor_out[30] = 0
    regressor_out[31] = 0
    regressor_out[32] = 0
    regressor_out[33] = 0
    regressor_out[34] = 0
    regressor_out[35] = 0
    regressor_out[36] = 0
    regressor_out[37] = 0
    regressor_out[38] = 0
    regressor_out[39] = 0
    regressor_out[40] = 0
    regressor_out[41] = 0
    regressor_out[42] = 0
    regressor_out[43] = 0
    regressor_out[44] = 0
    regressor_out[45] = 0
    regressor_out[46] = 0
    regressor_out[47] = 0
    regressor_out[48] = 0
    regressor_out[49] = 0
    regressor_out[50] = 0
    regressor_out[51] = 0
    regressor_out[52] = 0
    regressor_out[53] = 0
    regressor_out[54] = 0
    regressor_out[55] = 0
    regressor_out[56] = 0
    regressor_out[57] = 0
    regressor_out[58] = 0
    regressor_out[59] = 0
    regressor_out[60] = 0
    regressor_out[61] = 0
    regressor_out[62] = 0
    regressor_out[63] = 0
    regressor_out[64] = 0
    regressor_out[65] = 0
    regressor_out[66] = 0
    regressor_out[67] = 0
    regressor_out[68] = 0
    regressor_out[69] = 0
    regressor_out[70] = 0
    regressor_out[71] = dq[1]
    regressor_out[72] = 0
    regressor_out[73] = 0
    regressor_out[74] = 0
    regressor_out[75] = 0
    regressor_out[76] = 0
    regressor_out[77] = 0
    regressor_out[78] = sign(dq[1])
    regressor_out[79] = 0
    regressor_out[80] = 0
    regressor_out[81] = 0
    regressor_out[82] = 0
    regressor_out[83] = 0
    regressor_out[84] = 0
    regressor_out[85] = -x11*x3 - x7*x8
    regressor_out[86] = x17
    regressor_out[87] = 0
    regressor_out[88] = 0
    regressor_out[89] = 0
    regressor_out[90] = 0
    regressor_out[91] = 0
    regressor_out[92] = -x3*(x13 - x14) - x7*(ddq[2] + x12)
    regressor_out[93] = x18 + x8
    regressor_out[94] = 0
    regressor_out[95] = 0
    regressor_out[96] = 0
    regressor_out[97] = 0
    regressor_out[98] = 0
    regressor_out[99] = -x3*(x6 + x8) - x7*(x10 + x15)
    regressor_out[100] = -x13 + x16
    regressor_out[101] = 0
    regressor_out[102] = 0
    regressor_out[103] = 0
    regressor_out[104] = 0
    regressor_out[105] = 0
    regressor_out[106] = -x10*x3 - x6*x7
    regressor_out[107] = ddq[2]
    regressor_out[108] = 0
    regressor_out[109] = 0
    regressor_out[110] = 0
    regressor_out[111] = 0
    regressor_out[112] = 0
    regressor_out[113] = -x3*(ddq[2] + x17) - x7*(x14 - x16)
    regressor_out[114] = x11 + x15
    regressor_out[115] = 0
    regressor_out[116] = 0
    regressor_out[117] = 0
    regressor_out[118] = 0
    regressor_out[119] = 0
    regressor_out[120] = -x15*x3 - x18*x7
    regressor_out[121] = x12
    regressor_out[122] = 0
    regressor_out[123] = 0
    regressor_out[124] = 0
    regressor_out[125] = 0
    regressor_out[126] = 0
    regressor_out[127] = 0
    regressor_out[128] = x75
    regressor_out[129] = 0
    regressor_out[130] = 0
    regressor_out[131] = 0
    regressor_out[132] = 0
    regressor_out[133] = 0
    regressor_out[134] = -x19*x7 - x21*x3
    regressor_out[135] = 0
    regressor_out[136] = 0
    regressor_out[137] = 0
    regressor_out[138] = 0
    regressor_out[139] = 0
    regressor_out[140] = 0
    regressor_out[141] = 0
    regressor_out[142] = x20
    regressor_out[143] = 0
    regressor_out[144] = 0
    regressor_out[145] = 0
    regressor_out[146] = 0
    regressor_out[147] = 0
    regressor_out[148] = 0
    regressor_out[149] = 0
    regressor_out[150] = 0
    regressor_out[151] = 0
    regressor_out[152] = 0
    regressor_out[153] = 0
    regressor_out[154] = 0
    regressor_out[155] = 0
    regressor_out[156] = dq[2]
    regressor_out[157] = 0
    regressor_out[158] = 0
    regressor_out[159] = 0
    regressor_out[160] = 0
    regressor_out[161] = 0
    regressor_out[162] = 0
    regressor_out[163] = sign(dq[2])
    regressor_out[164] = 0
    regressor_out[165] = 0
    regressor_out[166] = 0
    regressor_out[167] = 0
    regressor_out[168] = 0
    regressor_out[169] = -x3*x41 - x7*(x22*x32 + x38*x39)
    regressor_out[170] = x22*x38 + x23*x32
    regressor_out[171] = x41
    regressor_out[172] = 0
    regressor_out[173] = 0
    regressor_out[174] = 0
    regressor_out[175] = 0
    regressor_out[176] = -x3*x50 - x7*(x22*x43 + x39*x47)
    regressor_out[177] = x22*x47 + x23*x43
    regressor_out[178] = x50
    regressor_out[179] = 0
    regressor_out[180] = 0
    regressor_out[181] = 0
    regressor_out[182] = 0
    regressor_out[183] = -x3*x62 - x7*(x39*x59 + x57)
    regressor_out[184] = x22*x59 + x23*x56
    regressor_out[185] = x62
    regressor_out[186] = 0
    regressor_out[187] = 0
    regressor_out[188] = 0
    regressor_out[189] = 0
    regressor_out[190] = -x3*x63 - x7*(x22*x58 + x39*x51)
    regressor_out[191] = x22*x51 + x23*x58
    regressor_out[192] = x63
    regressor_out[193] = 0
    regressor_out[194] = 0
    regressor_out[195] = 0
    regressor_out[196] = 0
    regressor_out[197] = -x3*x67 - x7*(x22*x65 + x39*x66)
    regressor_out[198] = x23*x65 + x681
    regressor_out[199] = x67
    regressor_out[200] = 0
    regressor_out[201] = 0
    regressor_out[202] = 0
    regressor_out[203] = 0
    regressor_out[204] = -x3*x68 - x7*(x22*x48 + x39*x55)
    regressor_out[205] = x22*x55 + x23*x48
    regressor_out[206] = x68
    regressor_out[207] = 0
    regressor_out[208] = 0
    regressor_out[209] = 0
    regressor_out[210] = 0
    regressor_out[211] = -x3*(x71*x81 + x86) - x7*(-0.55*x22*x81 + x56*x82 + x78 + x79*x80)
    regressor_out[212] = 0.55*x22*x79 + x57*x71 + x682 + x80*x81
    regressor_out[213] = 0.045*x81 + x86
    regressor_out[214] = 0
    regressor_out[215] = 0
    regressor_out[216] = 0
    regressor_out[217] = 0
    regressor_out[218] = -x3*x49*x71 - x7*(-0.55*x22*x49 + x39*x92 + x80*x93 + x82*x94 + x88)
    regressor_out[219] = x22*x92 + 0.55*x22*x93 + x23*x87 + x49*x80 + x683*x94
    regressor_out[220] = 0.045*x49
    regressor_out[221] = 0
    regressor_out[222] = 0
    regressor_out[223] = 0
    regressor_out[224] = 0
    regressor_out[225] = -x3*(x71*x96 + x99) - x7*(x22*x95 - 0.55*x22*x96 + x66*x80 + x82*x97)
    regressor_out[226] = x23*x95 + 0.55*x681 + x683*x97 + x80*x96
    regressor_out[227] = 0.045*x96 + x99
    regressor_out[228] = 0
    regressor_out[229] = 0
    regressor_out[230] = 0
    regressor_out[231] = 0
    regressor_out[232] = -x3*x71*x87 - x7*(x71*x78 + x80*x98 - 0.55*x88)
    regressor_out[233] = 0.55*x22*x98 + x682*x71 + x80*x87
    regressor_out[234] = 0.045*x87
    regressor_out[235] = 0
    regressor_out[236] = 0
    regressor_out[237] = 0
    regressor_out[238] = 0
    regressor_out[239] = 0
    regressor_out[240] = 0
    regressor_out[241] = dq[3]
    regressor_out[242] = 0
    regressor_out[243] = 0
    regressor_out[244] = 0
    regressor_out[245] = 0
    regressor_out[246] = 0
    regressor_out[247] = 0
    regressor_out[248] = sign(dq[3])
    regressor_out[249] = 0
    regressor_out[250] = 0
    regressor_out[251] = 0
    regressor_out[252] = 0
    regressor_out[253] = -x114*x3 - x7*(x112*x22 + x113*x39)
    regressor_out[254] = x112*x23 + x113*x22
    regressor_out[255] = x114
    regressor_out[256] = x113
    regressor_out[257] = 0
    regressor_out[258] = 0
    regressor_out[259] = 0
    regressor_out[260] = -x126*x3 - x7*(x123*x22 + x125*x39)
    regressor_out[261] = x123*x23 + x125*x22
    regressor_out[262] = x126
    regressor_out[263] = x125
    regressor_out[264] = 0
    regressor_out[265] = 0
    regressor_out[266] = 0
    regressor_out[267] = -x139*x3 - x7*(x134*x22 + x137*x39)
    regressor_out[268] = x134*x23 + x137*x22
    regressor_out[269] = x139
    regressor_out[270] = x137
    regressor_out[271] = 0
    regressor_out[272] = 0
    regressor_out[273] = 0
    regressor_out[274] = -x141*x3 - x7*(x115*x39 + x140*x22)
    regressor_out[275] = x115*x22 + x140*x23
    regressor_out[276] = x141
    regressor_out[277] = x115
    regressor_out[278] = 0
    regressor_out[279] = 0
    regressor_out[280] = 0
    regressor_out[281] = -x148*x3 - x7*(x146*x22 + x147*x39)
    regressor_out[282] = x146*x23 + x147*x22
    regressor_out[283] = x148
    regressor_out[284] = x147
    regressor_out[285] = 0
    regressor_out[286] = 0
    regressor_out[287] = 0
    regressor_out[288] = -x150*x3 - x7*(x117*x39 + x149*x22)
    regressor_out[289] = x117*x22 + x149*x23
    regressor_out[290] = x150
    regressor_out[291] = x117
    regressor_out[292] = 0
    regressor_out[293] = 0
    regressor_out[294] = 0
    regressor_out[295] = -x3*(x131*x71 + x175) - x7*(-0.55*x131*x22 + x162*x22 + x169*x39 + x171*x80 + x172*x82)
    regressor_out[296] = x131*x80 + x162*x23 + x169*x22 + 0.55*x171*x22 + x172*x683
    regressor_out[297] = 0.045*x131 + x175
    regressor_out[298] = x167 + 0.045*x168
    regressor_out[299] = 0
    regressor_out[300] = 0
    regressor_out[301] = 0
    regressor_out[302] = -x3*(x180*x71 + x189) - x7*(-0.55*x180*x22 + x182*x22 + x183*x39 + x186*x80 + x187*x82)
    regressor_out[303] = x180*x80 + x182*x23 + x183*x22 + 0.55*x186*x22 + x187*x683
    regressor_out[304] = 0.045*x180 + x189
    regressor_out[305] = 0.045*x125
    regressor_out[306] = 0
    regressor_out[307] = 0
    regressor_out[308] = 0
    regressor_out[309] = -x3*(x191*x71 + x198) - x7*(-0.55*x191*x22 + x192*x22 + x195*x39 + x196*x80 + x197*x82)
    regressor_out[310] = x191*x80 + x192*x23 + x195*x22 + 0.55*x196*x22 + x197*x683
    regressor_out[311] = 0.045*x191 + x198
    regressor_out[312] = x193 + 0.045*x194
    regressor_out[313] = 0
    regressor_out[314] = 0
    regressor_out[315] = 0
    regressor_out[316] = -x3*(x160*x71 + x203) - x7*(-0.55*x160*x22 + x199*x80 + x200*x82 + x201*x22 + x202*x39)
    regressor_out[317] = x160*x80 + 0.55*x199*x22 + x200*x683 + x201*x23 + x202*x22
    regressor_out[318] = 0.045*x160 + x203
    regressor_out[319] = 0.045*x176
    regressor_out[320] = 0
    regressor_out[321] = 0
    regressor_out[322] = 0
    regressor_out[323] = 0
    regressor_out[324] = 0
    regressor_out[325] = 0
    regressor_out[326] = dq[4]
    regressor_out[327] = 0
    regressor_out[328] = 0
    regressor_out[329] = 0
    regressor_out[330] = 0
    regressor_out[331] = 0
    regressor_out[332] = 0
    regressor_out[333] = sign(dq[4])
    regressor_out[334] = 0
    regressor_out[335] = 0
    regressor_out[336] = 0
    regressor_out[337] = -x225*x3 - x7*(x22*x223 + x224*x39)
    regressor_out[338] = x22*x224 + x223*x23
    regressor_out[339] = x225
    regressor_out[340] = x224
    regressor_out[341] = x212
    regressor_out[342] = 0
    regressor_out[343] = 0
    regressor_out[344] = -x238*x3 - x7*(x22*x236 + x237*x39)
    regressor_out[345] = x22*x237 + x23*x236
    regressor_out[346] = x238
    regressor_out[347] = x237
    regressor_out[348] = x228
    regressor_out[349] = 0
    regressor_out[350] = 0
    regressor_out[351] = -x250*x3 - x7*(x22*x248 + x249*x39)
    regressor_out[352] = x22*x249 + x23*x248
    regressor_out[353] = x250
    regressor_out[354] = x249
    regressor_out[355] = x241
    regressor_out[356] = 0
    regressor_out[357] = 0
    regressor_out[358] = -x255*x3 - x7*(x22*x253 + x254*x39)
    regressor_out[359] = x22*x254 + x23*x253
    regressor_out[360] = x255
    regressor_out[361] = x254
    regressor_out[362] = x251
    regressor_out[363] = 0
    regressor_out[364] = 0
    regressor_out[365] = -x264*x3 - x7*(x22*x261 + x263*x39)
    regressor_out[366] = x22*x263 + x23*x261
    regressor_out[367] = x264
    regressor_out[368] = x263
    regressor_out[369] = x256
    regressor_out[370] = 0
    regressor_out[371] = 0
    regressor_out[372] = -x269*x3 - x7*(x22*x267 + x268*x39)
    regressor_out[373] = x22*x268 + x23*x267
    regressor_out[374] = x269
    regressor_out[375] = x268
    regressor_out[376] = x265
    regressor_out[377] = 0
    regressor_out[378] = 0
    regressor_out[379] = -x3*(x284*x71 + x293) - x7*(-0.55*x22*x284 + x22*x285 + x289*x39 + x291*x80 + x292*x82)
    regressor_out[380] = x22*x289 + 0.55*x22*x291 + x23*x285 + x284*x80 + x292*x683
    regressor_out[381] = 0.045*x284 + x293
    regressor_out[382] = x287 + 0.045*x288
    regressor_out[383] = x276
    regressor_out[384] = 0
    regressor_out[385] = 0
    regressor_out[386] = -x3*(x303*x71 + x312) - x7*(-0.55*x22*x303 + x22*x304 + x308*x39 + x310*x80 + x311*x82)
    regressor_out[387] = x22*x308 + 0.55*x22*x310 + x23*x304 + x303*x80 + x311*x683
    regressor_out[388] = 0.045*x303 + x312
    regressor_out[389] = x306 + 0.045*x307
    regressor_out[390] = 0
    regressor_out[391] = 0
    regressor_out[392] = 0
    regressor_out[393] = -x3*(x319*x71 + x327) - x7*(-0.55*x22*x319 + x22*x320 + x323*x39 + x325*x80 + x326*x82)
    regressor_out[394] = x22*x323 + 0.55*x22*x325 + x23*x320 + x319*x80 + x326*x683
    regressor_out[395] = 0.045*x319 + x327
    regressor_out[396] = x321 + 0.045*x322
    regressor_out[397] = x314
    regressor_out[398] = 0
    regressor_out[399] = 0
    regressor_out[400] = -x3*(x329*x71 + x338) - x7*(-0.55*x22*x329 + x22*x330 + x334*x39 + x336*x80 + x337*x82)
    regressor_out[401] = x22*x334 + 0.55*x22*x336 + x23*x330 + x329*x80 + x337*x683
    regressor_out[402] = 0.045*x329 + x338
    regressor_out[403] = x332 + 0.045*x333
    regressor_out[404] = 0
    regressor_out[405] = 0
    regressor_out[406] = 0
    regressor_out[407] = 0
    regressor_out[408] = 0
    regressor_out[409] = 0
    regressor_out[410] = 0
    regressor_out[411] = dq[5]
    regressor_out[412] = 0
    regressor_out[413] = 0
    regressor_out[414] = 0
    regressor_out[415] = 0
    regressor_out[416] = 0
    regressor_out[417] = 0
    regressor_out[418] = sign(dq[5])
    regressor_out[419] = 0
    regressor_out[420] = 0
    regressor_out[421] = -x3*x355 - x7*(x22*x353 + x354*x39)
    regressor_out[422] = x22*x354 + x23*x353
    regressor_out[423] = x355
    regressor_out[424] = x354
    regressor_out[425] = x349
    regressor_out[426] = x351
    regressor_out[427] = 0
    regressor_out[428] = -x3*x370 - x7*(x22*x368 + x369*x39)
    regressor_out[429] = x22*x369 + x23*x368
    regressor_out[430] = x370
    regressor_out[431] = x369
    regressor_out[432] = x363
    regressor_out[433] = x366
    regressor_out[434] = 0
    regressor_out[435] = -x3*x383 - x7*(x22*x381 + x382*x39)
    regressor_out[436] = x22*x382 + x23*x381
    regressor_out[437] = x383
    regressor_out[438] = x382
    regressor_out[439] = x375
    regressor_out[440] = x379
    regressor_out[441] = 0
    regressor_out[442] = -x3*x389 - x7*(x22*x387 + x388*x39)
    regressor_out[443] = x22*x388 + x23*x387
    regressor_out[444] = x389
    regressor_out[445] = x388
    regressor_out[446] = x384
    regressor_out[447] = x357
    regressor_out[448] = 0
    regressor_out[449] = -x3*x400 - x7*(x22*x398 + x39*x399)
    regressor_out[450] = x22*x399 + x23*x398
    regressor_out[451] = x400
    regressor_out[452] = x399
    regressor_out[453] = x393
    regressor_out[454] = x396
    regressor_out[455] = 0
    regressor_out[456] = -x3*x406 - x7*(x22*x404 + x39*x405)
    regressor_out[457] = x22*x405 + x23*x404
    regressor_out[458] = x406
    regressor_out[459] = x405
    regressor_out[460] = x401
    regressor_out[461] = x356
    regressor_out[462] = 0
    regressor_out[463] = -x3*(x423*x71 + x432) - x7*(-0.55*x22*x423 + x22*x424 + x39*x428 + x430*x80 + x431*x82)
    regressor_out[464] = x22*x428 + 0.55*x22*x430 + x23*x424 + x423*x80 + x431*x683
    regressor_out[465] = 0.045*x423 + x432
    regressor_out[466] = x426 + 0.045*x427
    regressor_out[467] = x412
    regressor_out[468] = x417
    regressor_out[469] = 0
    regressor_out[470] = -x3*(x446*x71 + x455) - x7*(-0.55*x22*x446 + x22*x447 + x39*x451 + x453*x80 + x454*x82)
    regressor_out[471] = x22*x451 + 0.55*x22*x453 + x23*x447 + x446*x80 + x454*x683
    regressor_out[472] = 0.045*x446 + x455
    regressor_out[473] = x449 + 0.045*x450
    regressor_out[474] = x439
    regressor_out[475] = 0
    regressor_out[476] = 0
    regressor_out[477] = -x3*(x465*x71 + x474) - x7*(-0.55*x22*x465 + x22*x466 + x39*x470 + x472*x80 + x473*x82)
    regressor_out[478] = x22*x470 + 0.55*x22*x472 + x23*x466 + x465*x80 + x473*x683
    regressor_out[479] = 0.045*x465 + x474
    regressor_out[480] = x468 + 0.045*x469
    regressor_out[481] = x457
    regressor_out[482] = x459
    regressor_out[483] = 0
    regressor_out[484] = -x3*(x478*x71 + x487) - x7*(-0.55*x22*x478 + x22*x479 + x39*x483 + x485*x80 + x486*x82)
    regressor_out[485] = x22*x483 + 0.55*x22*x485 + x23*x479 + x478*x80 + x486*x683
    regressor_out[486] = 0.045*x478 + x487
    regressor_out[487] = x481 + 0.045*x482
    regressor_out[488] = 0
    regressor_out[489] = 0
    regressor_out[490] = 0
    regressor_out[491] = 0
    regressor_out[492] = 0
    regressor_out[493] = 0
    regressor_out[494] = 0
    regressor_out[495] = 0
    regressor_out[496] = dq[6]
    regressor_out[497] = 0
    regressor_out[498] = 0
    regressor_out[499] = 0
    regressor_out[500] = 0
    regressor_out[501] = 0
    regressor_out[502] = 0
    regressor_out[503] = sign(dq[6])
    regressor_out[504] = 0
    regressor_out[505] = -x3*x511 - x7*(x22*x509 + x39*x510)
    regressor_out[506] = x22*x510 + x23*x509
    regressor_out[507] = x511
    regressor_out[508] = x510
    regressor_out[509] = x505
    regressor_out[510] = x507
    regressor_out[511] = x504
    regressor_out[512] = -x3*x530 - x7*(x22*x528 + x39*x529)
    regressor_out[513] = x22*x529 + x23*x528
    regressor_out[514] = x530
    regressor_out[515] = x529
    regressor_out[516] = x524
    regressor_out[517] = x526
    regressor_out[518] = x523
    regressor_out[519] = -x3*x547 - x7*(x22*x545 + x39*x546)
    regressor_out[520] = x22*x546 + x23*x545
    regressor_out[521] = x547
    regressor_out[522] = x546
    regressor_out[523] = x540
    regressor_out[524] = x543
    regressor_out[525] = x539
    regressor_out[526] = -x3*x555 - x7*(x22*x553 + x39*x554)
    regressor_out[527] = x22*x554 + x23*x553
    regressor_out[528] = x555
    regressor_out[529] = x554
    regressor_out[530] = x549
    regressor_out[531] = x551
    regressor_out[532] = x503
    regressor_out[533] = -x3*x567 - x7*(x22*x565 + x39*x566)
    regressor_out[534] = x22*x566 + x23*x565
    regressor_out[535] = x567
    regressor_out[536] = x566
    regressor_out[537] = x561
    regressor_out[538] = x563
    regressor_out[539] = x560
    regressor_out[540] = -x3*x575 - x7*(x22*x573 + x39*x574)
    regressor_out[541] = x22*x574 + x23*x573
    regressor_out[542] = x575
    regressor_out[543] = x574
    regressor_out[544] = x569
    regressor_out[545] = x571
    regressor_out[546] = x531
    regressor_out[547] = -x3*(x597*x71 + x606) - x7*(-0.55*x22*x597 + x22*x598 + x39*x602 + x604*x80 + x605*x82)
    regressor_out[548] = x22*x602 + 0.55*x22*x604 + x23*x598 + x597*x80 + x605*x683
    regressor_out[549] = 0.045*x597 + x606
    regressor_out[550] = x600 + 0.045*x601
    regressor_out[551] = x587
    regressor_out[552] = x590
    regressor_out[553] = x586
    regressor_out[554] = -x3*(x625*x71 + x634) - x7*(-0.55*x22*x625 + x22*x626 + x39*x630 + x632*x80 + x633*x82)
    regressor_out[555] = x22*x630 + 0.55*x22*x632 + x23*x626 + x625*x80 + x633*x683
    regressor_out[556] = 0.045*x625 + x634
    regressor_out[557] = x628 + 0.045*x629
    regressor_out[558] = x616
    regressor_out[559] = x619
    regressor_out[560] = x615
    regressor_out[561] = -x3*(x651*x71 + x660) - x7*(-0.55*x22*x651 + x22*x652 + x39*x656 + x658*x80 + x659*x82)
    regressor_out[562] = x22*x656 + 0.55*x22*x658 + x23*x652 + x651*x80 + x659*x683
    regressor_out[563] = 0.045*x651 + x660
    regressor_out[564] = x654 + 0.045*x655
    regressor_out[565] = x640
    regressor_out[566] = x644
    regressor_out[567] = 0
    regressor_out[568] = -x3*(x671*x71 + x680) - x7*(-0.55*x22*x671 + x22*x672 + x39*x676 + x678*x80 + x679*x82)
    regressor_out[569] = x22*x676 + 0.55*x22*x678 + x23*x672 + x671*x80 + x679*x683
    regressor_out[570] = 0.045*x671 + x680
    regressor_out[571] = x674 + 0.045*x675
    regressor_out[572] = x663
    regressor_out[573] = x665
    regressor_out[574] = 0
    regressor_out[575] = 0
    regressor_out[576] = 0
    regressor_out[577] = 0
    regressor_out[578] = 0
    regressor_out[579] = 0
    regressor_out[580] = 0
    regressor_out[581] = dq[7]
    regressor_out[582] = 0
    regressor_out[583] = 0
    regressor_out[584] = 0
    regressor_out[585] = 0
    regressor_out[586] = 0
    regressor_out[587] = 0
    regressor_out[588] = sign(dq[7])
#
    return regressor_out
end